A Cooperative Aerial System of A Payload Drone Equipped with Dexterous Rappelling End Droid for Cluttered Space Pickup
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arXiv
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| Main Authors: | , , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866913859611131904 |
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| author | Ren, Wenjing Dong, Xin Cui, Yangjie Yang, Binqi Li, Haoze Yu, Tao Xiang, Jinwu Li, Daochun Tu, Zhan |
| author_facet | Ren, Wenjing Dong, Xin Cui, Yangjie Yang, Binqi Li, Haoze Yu, Tao Xiang, Jinwu Li, Daochun Tu, Zhan |
| contents | In cluttered spaces, such as forests, drone picking up a payload via an abseil claw is an open challenge, as the cable is likely tangled and blocked by the branches and obstacles. To address such a challenge, in this work, a cooperative aerial system is proposed, which consists of a payload drone and a dexterous rappelling end droid. The two ends are linked via a Kevlar tether cable. The end droid is actuated by four propellers, which enable mid-air dexterous adjustment of clawing angle and guidance of cable movement. To avoid tanglement and rappelling obstacles, a trajectory optimization method that integrates cable length constraints and dynamic feasibility is developed, which guarantees safe pickup. A tether cable dynamic model is established to evaluate real-time cable status, considering both taut and sagging conditions. Simulation and real-world experiments are conducted to demonstrate that the proposed system is capable of picking up payload in cluttered spaces. As a result, the end droid can reach the target point successfully under cable constraints and achieve passive retrieval during the lifting phase without propulsion, which enables effective and efficient aerial manipulation. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2505_19980 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Cooperative Aerial System of A Payload Drone Equipped with Dexterous Rappelling End Droid for Cluttered Space Pickup Ren, Wenjing Dong, Xin Cui, Yangjie Yang, Binqi Li, Haoze Yu, Tao Xiang, Jinwu Li, Daochun Tu, Zhan Robotics Systems and Control In cluttered spaces, such as forests, drone picking up a payload via an abseil claw is an open challenge, as the cable is likely tangled and blocked by the branches and obstacles. To address such a challenge, in this work, a cooperative aerial system is proposed, which consists of a payload drone and a dexterous rappelling end droid. The two ends are linked via a Kevlar tether cable. The end droid is actuated by four propellers, which enable mid-air dexterous adjustment of clawing angle and guidance of cable movement. To avoid tanglement and rappelling obstacles, a trajectory optimization method that integrates cable length constraints and dynamic feasibility is developed, which guarantees safe pickup. A tether cable dynamic model is established to evaluate real-time cable status, considering both taut and sagging conditions. Simulation and real-world experiments are conducted to demonstrate that the proposed system is capable of picking up payload in cluttered spaces. As a result, the end droid can reach the target point successfully under cable constraints and achieve passive retrieval during the lifting phase without propulsion, which enables effective and efficient aerial manipulation. |
| title | A Cooperative Aerial System of A Payload Drone Equipped with Dexterous Rappelling End Droid for Cluttered Space Pickup |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2505.19980 |